version: 66.07
glider: 500
mission: 5
dive: 75
start: 11 19 110 1 28 16
data:
$ID,500
$MISSION,5
$DIVE,75
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,366
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-122771.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,191110,011336,2053.088,12459.142,34,1.0,34,-2.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-77.1
$GPS2,191110,012720,2052.882,12459.067,15,1.0,15,-2.7
$SPEED_LIMITS,0.142,0.256
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,0.192
$KALMAN_X,-41355.7,449.9,628.2,216978.0,-7100.8
$KALMAN_Y,-16095.2,498.0,356.9,-15872.0,-3388.0
$MHEAD_RNG_PITCHd_Wd,44.1,195795,-13.4,-8.197
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.65,-165.4,0.0,0.0,0,116,0.00,0.00,-97.05,0.000,2,0.000,0.000,134,2720,3539,0,0,0,0,0,0
$GC,118,-0.65,-165.5,3.4,-5.8,19,135,10.25,1.73,-1.62,0.000,4,0.232,0.064,2826,3854,3623,0,0,0,0,0,0
$GC,343,-0.65,-165.5,64.4,-24.3,47,346,0.00,1.67,0.00,0.000,6,0.000,0.036,2826,2684,3627,0,0,0,0,0,0
$GC,608,-0.65,-165.5,124.1,-18.0,72,612,0.00,2.28,0.00,0.000,4,0.000,0.043,2826,1108,3627,0,0,0,0,0,0
$GC,815,-0.65,-165.5,157.0,-16.1,90,819,0.00,2.33,0.00,0.000,6,0.000,0.047,2813,2703,3628,0,0,0,0,0,0
$GC,1075,-0.65,-165.5,196.9,-14.8,114,1079,0.00,2.33,0.00,0.000,4,0.000,0.043,2813,1112,3629,0,0,0,0,0,0
$GC,1187,-0.65,-165.5,213.4,-14.9,120,1192,0.12,2.33,0.00,0.000,6,0.169,0.046,2836,2699,3629,0,0,0,0,0,0
$GC,1507,-0.65,-165.5,251.6,-11.1,136,1511,0.00,2.30,0.00,0.000,4,0.000,0.043,2837,1116,3630,0,0,0,0,0,0
$GC,1763,-0.65,-165.5,280.9,-10.8,147,1770,0.00,2.35,0.00,0.000,6,0.000,0.049,2826,2694,3629,0,0,0,0,0,0
$GC,2099,-0.65,-165.5,320.0,-11.8,160,2103,0.00,2.30,0.00,0.000,4,0.000,0.041,2826,1107,3629,0,0,0,0,0,0
$GC,2356,-0.65,-165.5,347.9,-10.2,165,2362,0.00,2.33,0.00,0.000,6,0.000,0.048,2814,2707,3629,0,0,0,0,0,0
$GC,2686,-0.65,-165.5,379.7,-9.9,174,2690,0.00,2.30,0.00,0.000,4,0.000,0.043,2814,1118,3628,0,0,0,0,0,0
$GC,2809,-0.65,-165.5,392.4,-10.2,176,2814,0.12,2.30,0.00,0.000,6,0.166,0.048,2838,2704,3628,0,0,0,0,0,0
$GC,3140,-0.65,-165.5,423.2,-9.7,184,3144,0.00,2.33,0.00,0.000,4,0.000,0.044,2838,1113,3625,0,0,0,0,0,0
$GC,3396,-0.65,-165.5,445.1,-8.1,189,3403,0.00,2.35,0.00,0.000,6,0.000,0.048,2828,2695,3624,0,0,0,0,0,0
$GC,3728,-0.65,-165.5,472.0,-8.1,198,3732,0.00,2.28,0.00,0.000,4,0.000,0.042,2828,1117,3622,0,0,0,0,0,0
$GC,3985,-0.65,-165.5,493.3,-8.2,203,3989,0.00,2.38,0.00,0.000,6,0.000,0.049,2816,2704,3620,0,0,0,0,0,0
$GC,4322,-0.65,-165.5,521.7,-8.7,212,4326,0.00,2.33,0.00,0.000,4,0.000,0.043,2816,1116,3619,0,0,0,0,0,0
$GC,4579,-0.65,-165.5,544.6,-8.3,217,4587,0.08,2.38,0.00,0.000,6,0.143,0.048,2832,2706,3616,0,0,0,0,0,0
$GC,4913,-0.65,-165.5,568.4,-7.3,226,4917,0.00,2.33,0.00,0.000,4,0.000,0.043,2832,1116,3614,0,0,0,0,0,0
$GC,5170,-0.65,-165.5,588.8,-7.6,231,5176,0.00,2.38,0.00,0.000,6,0.000,0.049,2821,2725,3612,0,0,0,0,0,0
$GC,5501,-0.65,-165.5,614.3,-7.9,240,5505,0.00,2.38,0.00,0.000,4,0.000,0.042,2821,1107,3610,0,0,0,0,0,0
$GC,5757,-0.65,-165.5,635.4,-8.4,245,5765,0.08,2.38,0.00,0.000,6,0.144,0.048,2837,2689,3608,0,0,0,0,0,0
$GC,6091,-0.65,-165.5,658.8,-6.7,254,6095,0.00,2.30,0.00,0.000,4,0.000,0.043,2837,1104,3606,0,0,0,0,0,0
$GC,6235,-0.65,-165.5,668.5,-6.6,257,6239,0.00,2.40,0.00,0.000,6,0.000,0.048,2826,2708,3604,0,0,0,0,0,0
$GC,6549,-0.65,-165.5,687.1,-5.9,265,6553,0.00,2.33,0.00,0.000,4,0.000,0.044,2826,1117,3602,0,0,0,0,0,0
$GC,6660,-0.65,-165.5,694.4,-6.8,267,6664,0.00,2.38,0.00,0.000,6,0.000,0.048,2814,2722,3602,0,0,0,0,0,0
$GC,7003,-0.65,-165.5,719.2,-7.7,276,7007,0.00,2.38,0.00,0.000,4,0.000,0.043,2814,1110,3600,0,0,0,0,0,0
$GC,7260,-0.65,-165.5,740.1,-8.1,281,7267,0.12,2.33,0.00,0.000,6,0.166,0.048,2838,2696,3598,0,0,0,0,0,0
$GC,7592,-0.65,-165.5,762.0,-6.2,290,7596,0.00,2.30,0.00,0.000,4,0.000,0.043,2838,1116,3596,0,0,0,0,0,0
$GC,7848,-0.65,-165.5,778.3,-5.7,295,7855,0.00,2.38,0.00,0.000,6,0.000,0.048,2827,2729,3594,0,0,0,0,0,0
$GC,8180,-0.65,-165.5,796.3,-5.4,304,8184,0.00,2.35,0.00,0.000,4,0.000,0.044,2827,1117,3593,0,0,0,0,0,0
$GC,8315,-0.65,-165.5,804.3,-6.1,307,8319,0.00,2.35,0.00,0.000,6,0.000,0.048,2815,2713,3592,0,0,0,0,0,0
$GC,8634,-0.65,-165.5,824.0,-6.2,315,8638,0.00,2.33,0.00,0.000,4,0.000,0.042,2815,1116,3591,0,0,0,0,0,0
$GC,8818,-0.65,-165.5,835.8,-6.6,319,8823,0.12,2.35,0.00,0.000,6,0.166,0.048,2839,2693,3590,0,0,0,0,0,0
$GC,9132,-0.65,-165.5,853.1,-5.6,327,9136,0.00,2.33,0.00,0.000,4,0.000,0.043,2840,1115,3588,0,0,0,0,0,0
$GC,9373,-0.65,-165.5,868.0,-7.4,332,9377,0.00,2.38,0.00,0.000,6,0.000,0.050,2829,2704,3587,0,0,0,0,0,0
$GC,9720,-0.65,-165.5,890.1,-6.6,341,9725,0.00,2.35,0.00,0.000,4,0.000,0.045,2829,1113,3585,0,0,0,0,0,0
$STATE,9865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9865,begin apogee
$GC,9870,-0.23,0.0,900.3,7.1,344,10004,0.43,0.00,131.02,1.310,6,0.120,0.000,2973,1917,2945,0,0,0,0,0,0
$STATE,10005,end apogee,CONTROL_FINISHED_OK
$STATE,10005,begin climb
$GC,10007,0.65,165.5,902.1,0.0,347,10159,0.77,2.58,144.32,1.279,4,0.070,0.054,3259,3480,2269,0,0,0,0,0,0
$GC,10226,0.65,165.5,874.9,14.8,352,10230,0.00,2.47,0.00,0.000,6,0.000,0.043,3270,1914,2259,0,0,0,0,0,0
$GC,10545,0.65,165.5,826.1,15.5,360,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1914,2253,0,0,0,0,0,0
$GC,10869,0.65,165.5,774.3,16.2,368,10874,0.00,2.40,0.00,0.000,4,0.000,0.056,3270,3481,2251,0,0,0,0,0,0
$GC,10936,0.65,165.5,762.9,16.4,369,10940,0.00,2.40,0.00,0.000,6,0.000,0.044,3283,1887,2250,0,0,0,0,0,0
$GC,11278,0.65,165.5,706.6,16.0,378,11282,0.00,2.38,0.00,0.000,4,0.000,0.054,3295,312,2249,0,0,0,0,0,0
$GC,11321,0.65,165.5,699.6,15.7,379,11326,0.12,2.38,0.00,0.000,6,0.143,0.046,3256,1902,2248,0,0,0,0,0,0
$GC,11640,0.65,165.5,653.5,14.8,387,11644,0.00,2.38,0.00,0.000,4,0.000,0.058,3256,3484,2247,0,0,0,0,0,0
$GC,11806,0.65,165.5,627.1,15.8,390,11813,0.00,2.40,0.00,0.000,6,0.000,0.045,3267,1896,2247,0,0,0,0,0,0
$GC,12137,0.65,165.5,577.4,14.6,399,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1896,2246,0,0,0,0,0,0
$GC,12463,0.65,165.5,534.7,12.8,407,12467,0.00,2.38,0.00,0.000,4,0.000,0.057,3279,306,2245,0,0,0,0,0,0
$GC,12489,0.65,165.5,531.0,13.1,407,12493,0.00,2.40,0.00,0.000,6,0.000,0.048,3280,1897,2245,0,0,0,0,0,0
$GC,12826,0.65,165.5,483.7,14.7,416,12830,0.00,2.40,0.00,0.000,4,0.000,0.059,3280,3492,2245,0,0,0,0,0,0
$GC,12875,0.65,165.5,475.9,16.4,417,12880,0.12,2.38,0.00,0.000,6,0.146,0.048,3252,1893,2245,0,0,0,0,0,0
$GC,13188,0.65,165.5,434.5,13.3,425,13192,0.00,2.35,0.00,0.000,4,0.000,0.058,3263,318,2244,0,0,0,0,0,0
$GC,13243,0.65,165.5,426.5,13.9,426,13247,0.00,2.35,0.00,0.000,6,0.000,0.048,3262,1910,2244,0,0,0,0,0,0
$GC,13555,0.65,165.5,383.4,13.4,434,13559,0.00,2.38,0.00,0.000,4,0.000,0.057,3262,3489,2244,0,0,0,0,0,0
$GC,13642,0.65,165.5,371.1,13.9,436,13647,0.00,2.40,0.00,0.000,6,0.000,0.047,3275,1903,2244,0,0,0,0,0,0
$GC,13968,0.65,165.5,328.8,12.8,444,13972,0.00,2.40,0.00,0.000,4,0.000,0.056,3288,304,2244,0,0,0,0,0,0
$GC,13995,0.65,165.5,325.2,12.9,444,13999,0.00,2.40,0.00,0.000,6,0.000,0.048,3287,1904,2244,0,0,0,0,0,0
$GC,14322,0.65,165.5,282.7,12.9,455,14326,0.00,2.38,0.00,0.000,4,0.000,0.056,3287,3499,2245,0,0,0,0,0,0
$GC,14383,0.65,165.5,274.2,13.4,458,14388,0.12,2.40,0.00,0.000,6,0.145,0.043,3260,1887,2244,0,0,0,0,0,0
$GC,14708,0.65,165.5,242.5,9.4,474,14709,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1887,2245,0,0,0,0,0,0
$GC,15018,0.65,165.5,214.4,8.6,489,15019,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1887,2245,0,0,0,0,0,0
$GC,15331,0.65,165.5,186.4,8.9,511,15335,0.00,2.38,0.00,0.000,4,0.000,0.051,3259,3489,2246,0,0,0,0,0,0
$GC,15375,0.65,165.5,182.1,9.5,514,15381,0.00,2.35,0.00,0.000,6,0.000,0.044,3270,1891,2246,0,0,0,0,0,0
$GC,15637,0.66,170.8,159.6,8.0,539,15638,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1890,2246,0,0,0,0,0,0
$GC,15892,0.69,198.5,139.9,7.3,563,15923,0.00,2.42,24.35,0.700,4,0.000,0.053,3283,303,2134,0,0,0,0,0,0
$GC,15939,0.72,220.2,136.3,7.5,567,15966,0.00,2.40,18.55,0.670,6,0.000,0.043,3282,1904,2047,0,0,0,0,0,0
$GC,16220,0.72,220.2,112.0,8.9,594,16224,0.00,2.38,0.00,0.000,4,0.000,0.053,3282,3496,2040,0,0,0,0,0,0
$GC,16282,0.72,220.2,106.2,10.1,599,16286,0.00,2.38,0.00,0.000,6,0.000,0.041,3294,1890,2039,0,0,0,0,0,0
$GC,16542,0.78,272.8,85.9,6.4,623,16593,0.00,2.47,42.12,0.650,4,0.000,0.052,3306,311,1831,0,0,0,0,0,0
$GC,16649,0.83,316.1,79.2,6.7,633,16691,0.00,2.35,34.67,0.640,6,0.000,0.041,3306,1908,1655,0,0,0,0,0,0
$GC,16945,0.90,370.3,59.8,6.4,661,16997,0.10,2.47,43.12,0.625,4,0.102,0.051,3383,3478,1433,0,0,0,0,0,0
$GC,17037,0.90,370.3,47.2,14.3,669,17044,0.15,2.42,0.00,0.000,6,0.104,0.042,3341,1903,1431,0,0,0,0,0,0
$GC,17304,0.90,370.3,18.1,11.0,703,17309,0.00,2.40,0.00,0.000,4,0.000,0.051,3352,309,1428,0,0,0,0,0,0
$GC,17367,0.90,370.3,11.8,9.8,714,17373,0.00,2.33,0.00,0.000,6,0.000,0.042,3352,1895,1426,0,0,0,0,0,0
$STATE,17450,end climb,SURFACE_DEPTH_REACHED
$STATE,17450,begin surface coast
$FINISH,0.4,1.005253
$STATE,17481,end surface coast,CONTROL_FINISHED_OK
$STATE,17481,begin surface
$SM_CCo,17499,62.92,0.591,0,0,905,500.16
$SM_GC,1.01,0.00,0.00,62.92,0.000,0.000,0.591,113,2722,905,-9.18,0.62,500.16
$IRIDIUM_FIX,2045.60,12458.20,130512,191934
$TT8_MAMPS,0.026845
$HUMID,1078648377
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.8,11.599
$10V_AH,10.4,8.270
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.650,164.350,438.175,62.925,0.000,83.613,160.519,322.827,0.000,0.000,16.972,1625.945,13049.416,623.674,2828.482,256.023,33.358,1831.118,0.000,2204.153,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,63.661,1310.036,590.590,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,495.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,26755,734
$CAP_FILE_SIZE,211771,0
$CFSIZE,260165632,218513408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,062207,2052.902,12458.394,31,0.8,31,-2.7